Comments (19)
I made the following quick hack and it apparently works,
In the launch-wholebodydynamics-icub-six-fts-sim.xml
I changed
https://github.com/robotology/codyco-modules/blob/75a681590889a13967351911f694dd7a0a9c14df/src/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts-sim.xml#L2
to
<robot name="@WBD_YARP_ROBOT_NAME" portprefix="icubSim" build="1" xmlns:xi="http://www.w3.org/2001/XInclude">
<xi:include href="estimators/wholebodydynamics-external.xml" />
In the wholebodydynamics-icub-external-six-fts-sim.xml
,
I commented the lines ,
https://github.com/robotology/codyco-modules/blob/75a681590889a13967351911f694dd7a0a9c14df/src/devices/wholeBodyDynamics/app/wholebodydynamics-icub-external-six-fts-sim.xml#L4
and
https://github.com/robotology/codyco-modules/blob/75a681590889a13967351911f694dd7a0a9c14df/src/devices/wholeBodyDynamics/app/wholebodydynamics-icub-external-six-fts-sim.xml#L75
then finally changed,
https://github.com/robotology/codyco-modules/blob/75a681590889a13967351911f694dd7a0a9c14df/src/devices/wholeBodyDynamics/app/wholebodydynamics-icub-external-six-fts-sim.xml#L5
to
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="wholebodydynamics" type="wholebodydynamics">
from codyco-modules.
I did now the following test:
- I modified the
launch-wholebodydynamics.xml
. I removed the right foot FT sensor device and I put it in a file calleddevice-test.xml
. Then, I modified this path to point mydevice-test
file instead ofwholebodydynamics-external.xml
. The two files are in the same folder.
I run YARP_ROBOT_NAME=iCubgazeboV2_5 yarprobotinterface --config launch-wholebodydynamics.xml
. The last device loaded is the left foot FT:
[INFO]created device <analogsensorclient>. See C++ class AnalogSensorClient for documentation.
yarp: Port /wholeBodyDynamics/l_foot_ft_sensor active at tcp://140.93.4.152:10079/
yarp: Port /wholeBodyDynamics/l_foot_ft_sensor/rpc:o active at tcp://140.93.4.152:10080/
yarp: Receiving input from /icubSim/left_foot/analog:o to /wholeBodyDynamics/l_foot_ft_sensor using udp
yarp: Sending output from /wholeBodyDynamics/l_foot_ft_sensor/rpc:o to /icubSim/left_foot/analog:o/rpc:i using tcp
[INFO]created device <analogsensorclient>. See C++ class AnalogSensorClient for documentation.
Therefore it seems the problem is not in the wholebodydynamics-external.xml
file.
from codyco-modules.
I just experienced the same issue. Actually the issue is solved by using the current format supported by YARP for including device config files (we are more familiar with it now).
I just replaced
<!-- estimators -->
<devices file="estimators/wholebodydynamics-external.xml" />
by
<!-- estimators -->
<devices>
<xi:include href="estimators/wholebodydynamics-external.xml" />
</devices>
As it is done in for any other inclusion.
@prashanthr05 had already done this more or less, but I didn't need the other workarounds:
- There is no need for changing the included file for removing the tag
<devices>
. - The following prefix is no more required
<device xmlns:xi="http://www.w3.org/2001/XInclude" name=... />
- Nor setting the
xmlns:xi
include tool at the top (apparently), probably becasue now it is a default?
I'm pushing a fix in the same PR opened by @GiulioRomualdi #280.
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Thanks @nunoguedelha .
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Did you fixed the problem in #276 ?
What is location of the files that you are trying to run in the yarprobotinterface?
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I fixed the invalid DTD problem locally on my laptop, see #276 (comment). I will open a PR for fixing the remote branch too.
the launch-wholebodydynamics.xml
file is located in $PATH_TO_SUPERBUILD_INSTALL/share/codyco/robots/iCubGazeboV2_5/
and the wholebodydynamics-external.xml
is located in $PATH_TO_SUPERBUILD_INSTALL/share/codyco/robots/iCubGazeboV2_5/estimators
. Superbuild paths seem to be set correctly an I set them by sourcing the setup.sh file.
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Have you tried to test it with another devices file to check if that is loaded instead?
from codyco-modules.
All the other devices in the file are correctly loaded: https://github.com/robotology/codyco-modules/blob/master/src/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts-sim.xml#L89
The wholebodydynamics
device itself is loaded without any problem if I copy the content of wholebodydynamics-external.xml
instead of using the path to the xml file as specified currently in the launch-wholebodydynamics.xml
file: https://github.com/robotology/codyco-modules/blob/master/src/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub-six-fts-sim.xml#L95
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I got it. I asked if you could load any other devices
files, similar to wholebodydynamics-external.xml
but with less devices or something similar.
from codyco-modules.
I also experience this issue.
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Were there any recent changes in the parsing done by yarprobotinterface
?
The only change as listed in the changelog of YARP 3.2 release seems to be,
Tools
yarprobotinterface
YARP//DTD yarprobotinterface 3.0//EN is now the default parser for robot xml configuration files.
yarprobotinterface will not run anymore deprecated DTD format v1.0
from codyco-modules.
Same problem with the latest version of YARP
from codyco-modules.
Thanks to @prashanthr05 suggestion the problem is solved. I open a PR
from codyco-modules.
Guys, do you have any idea why this is now necessary? I am a bit out of time to check this out, but it could be interesting.
from codyco-modules.
Guys, do you have any idea why this is now necessary? I am a bit out of time to check this out, but it could be interesting.
I faced this problem after updating YARP to 3.2, specifically to this commit robotology/yarp@7ee03f8. and this line
<devices file="estimators/wholebodydynamics-external.xml" />
in the configuration file was not being parsed by the yarprobotinterface
.
from codyco-modules.
Yes, I was asking because I fear that we are actually doing a workaround but the actual bug is in YARP, but if no one has bandwidth to investigate that I am ok to merge Giulio's PR. Opening a bug in YARP without a minimun working example is probably just creating noise.
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Thanks @nunoguedelha
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Fixed by by #280 .
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Related Issues (20)
- wholeBodyDynamicsDevice verbose unnecessary error HOT 5
- Deprecate wholeBodyDynamicsTree HOT 10
- torque timeout while running wholeBodyDynamicsDevice throught yarprobotinterface HOT 4
- calibStandingOnTwoLinks needs an update of wholebodydynamics.xml for working properly HOT 2
- Add support for reading contacts from the Skin in the wholebodydynamics YARP device HOT 10
- jointTorqueControl needs to be ported to use the new IPWMControl interfaces HOT 6
- wholeBodyDynamicsDevice continuously emits warnings when skin is connected HOT 4
- torqueBalancing ini files not being installed HOT 3
- CMAKE Warning HOT 1
- Compilation problems since with newest version of yarp devel HOT 3
- [torqueBalancing]-Drift of the robot movements on its left HOT 2
- wholeBodyDynamics broken on iCubGenova04 HOT 5
- yarprobotointerface ends with segfault when the walking controller is closed HOT 3
- Migrate codyco-modules/src/modules/torqueBalancing/app/robots/ configuration files to some other repo HOT 55
- Bug in one link standing calibration in WholeBodyDynamics HOT 8
- Error when running wholebodydynamics in simulation with iCubGazeboV2_5 HOT 5
- Update required iDynTree version HOT 2
- CMake configuration error - cannot find `paramHelp` HOT 2
- Deprecate codyco-modules and remove twoFeetStandingIdleAndCalib.sh script HOT 7
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